Omnidirectional Delivery Robot Control for Grooves and Steps
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Solution Overview
Problem
Existing automatic moving devices face challenges in effectively navigating obstacles such as grooves and steps on the road surface, leading to potential derailments and inefficient passage.
Innovation Solution
The automatic moving device is equipped with a detection system that adjusts its direction to be oblique with respect to grooves and orthogonal to steps, utilizing mecanum wheels and a control section to manage torque modes and vehicle body orientation for secure passage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the automatic moving device travels straight toward detected obstacles, then the control logic is simple, but the device cannot appropriately handle different obstacle types (grooves vs. steps)
Solution Approach 1:
Instead of using a single universal approach for all obstacles, the patent inverts the strategy by using different traversal directions for different obstacle types: oblique direction for grooves and orthogonal direction for steps. This inverted thinking allows the simple mecanum wheel mechanism to adapt to various obstacles without complex control logic.
Solution Approach 2:
The patent applies local quality by adjusting the traversal direction based on the specific obstacle type detected. The control section determines the obstacle type (groove or step) and locally adapts the movement direction accordingly, rather than using a global fixed approach for all obstacles.
2Adaptability or versatility
If the device uses mecanum wheels for omnidirectional movement, then the device can traverse obstacles effectively, but the device complexity increases
Solution Approach 1:
The patent employs mecanum wheels that provide universal omnidirectional movement capability, allowing the device to approach and traverse different obstacle types (grooves and steps) from various angles. This multi-functional wheel design enables the device to execute both oblique and orthogonal traversal modes without requiring separate mechanisms for each direction.
3Reliability
If the device detects and responds to all road surface unevenness, then the reliability of article delivery improves, but the detection and response time increases
Solution Approach 1:
The detection section performs preliminary detection of road surface obstacles before the device reaches them. The control section receives advance information about obstacle types (grooves or steps) and pre-calculates the appropriate traversal direction, allowing the device to respond quickly and reliably without excessive detection and response time.
Data Source
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AI summary
An automatic moving device according to the present disclosure is an automatic moving device that is used in a delivery system for delivering an article and automatically moves the article. The automatic moving device includes a driving section configured to drive a wheel, a detection section configured to detect an obstacle of a road surface, and a control section configured to control the driving section so that the automatic moving device is moved in an oblique direction with respect to a groove when the groove is detected as the obstacle of the road surface, and control the driving section so that the automatic moving device is moved in a direction orthogonal to a step when the step is detected as the obstacle of the road surface.